diff --git a/tmux/config/custom_config.yaml b/tmux/config/custom_config.yaml
index 8632257..a3263ef 100644
--- a/tmux/config/custom_config.yaml
+++ b/tmux/config/custom_config.yaml
@@ -13,7 +13,7 @@ mrs_uav_managers:
     # "dummy"
     ]
 
-    initial_state_estimator: "gps_baro" # will be used as the first state estimator
+    initial_state_estimator: "gps_garmin" # will be used as the first state estimator
     agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
 
   control_manager:
@@ -29,10 +29,10 @@ mrs_uav_managers:
       controller: "Se3Controller"
 
       horizontal:
-        threshold_distance: 2.5 # [m]
+        threshold_distance: 1.2 # [m]
 
       vertical:
-        threshold_distance: 1.5 # [m]
+        threshold_distance: 1.2 # [m]
 
   uav_manager:
 
diff --git a/tmux/config/m690.yaml b/tmux/config/m690.yaml
deleted file mode 100644
index 4a2d81c..0000000
--- a/tmux/config/m690.yaml
+++ /dev/null
@@ -1,62 +0,0 @@
-uav_mass: 4.65
-
-motor_params:
-  n_motors: 4
-  a:  0.18452
-  b: -0.15
-
-# these model parameters can be used when
-# - 'control group', and/or
-# - 'actuator control'
-# are accepted by the HW API.
-model_params:
-
-  arm_length: 0.345 # [m]
-  body_height: 0.20 # [m]
-
-  propulsion:
-
-    # force [N] = force_constant * rpm^2
-    force_constant: 0.0000010312
-
-    # torque [Nm] = torque_constant * force [N]
-    torque_constant: 0.07
-
-    prop_radius: 0.2286 # [m]
-
-    # allocation motors -> torques
-
-    # quadrotor X configuration
-    # [roll torque,      [            [RPM_1^2,
-    #  pitch torque,  =    Alloc    *  RPM_2^2,
-    #  yaw torque,         Matrix       ...
-    #  thrust force]              ]    RPM_n_motors^2]
-    allocation_matrix: [
-      -0.707, 0.707, 0.707,  -0.707, # *= force_constant*arm_length
-      -0.707, 0.707, -0.707, 0.707,  # *= force_constant*arm_length
-      -1,     -1,    1,      1,      # *= torque_constant*force_constant
-      1,      1,     1,      1,      # *= force_constant
-    ]
-
-    # The UAV's inertia is approximated as a cilinder using the parameters above
-    # Alternatively, you can provide inertia matrix directly using the following parameter:
-    # inertia_matrix: []
-
-    rpm:
-      min: 801.55 # [revolutions/minute]
-      max: 5337.0 # [revolutions/minute]
-
-mrs_uav_managers:
-
-  constraint_manager:
-
-    default_constraints:
-      gps_garmin: "medium"
-      gps_baro: "medium"
-      rtk: "medium"
-      aloam: "slow"
-      hector_garmin: "slow"
-      vio: "slow"
-      optflow: "slow"
-      other: "slow"
-      ground_truth: "medium"
diff --git a/tmux/config/world_config.yaml b/tmux/config/world_config.yaml
index 2700a72..cb6b16c 100644
--- a/tmux/config/world_config.yaml
+++ b/tmux/config/world_config.yaml
@@ -7,7 +7,7 @@ world_origin:
 
 safety_area:
 
-  enabled: true
+  enabled: false
 
   horizontal:
 
diff --git a/tmux/session.yml b/tmux/session.yml
index 6c8ee65..d279864 100644
--- a/tmux/session.yml
+++ b/tmux/session.yml
@@ -5,7 +5,7 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=m690
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
 startup_window: control
 windows:
   - roscore:
@@ -26,7 +26,7 @@ windows:
   - spawn:
       layout: tiled
       panes:
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ouster --use-gpu-ray"
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ouster use_gpu:=True"
         # - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-rplidar"
   - takeoff:
       layout: tiled
@@ -44,8 +44,7 @@ windows:
   - control:
       layout: tiled
       panes:
-        # - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
-        - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=./config/m690.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
+        - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
   - gazebo_camera_follow:
       layout: tiled
       panes: